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<li class="navelem"><a class="el" href="dir_c1698e121239b1aba7f6e782e4514e49.html">cFS</a></li><li class="navelem"><a class="el" href="dir_7ee4ce95da95d11e80a01c5101ed8d14.html">apps</a></li><li class="navelem"><a class="el" href="dir_e1e7eca847bc00a6c905b32c8344479f.html">inc</a></li><li class="navelem"><a class="el" href="dir_f9ff52383777e73764319d396bf9e955.html">msgdef</a></li>  </ul>
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<a href="trajectory__msg_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef ICAROUS_CFS_TRAJECTORY_MSG_H</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define ICAROUS_CFS_TRAJECTORY_MSG_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;cfe.h&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="group__TRAJECTORY__MESSAGES.html#ga91a137242da7f276e5a2bfb0e4685e47">   22</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> {</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="group__TRAJECTORY__MESSAGES.html#gga91a137242da7f276e5a2bfb0e4685e47a59aa3ca6d675f5fe2dd9513e78eb2d5e">   23</a></span>&#160;    <a class="code" href="group__TRAJECTORY__MESSAGES.html#gga91a137242da7f276e5a2bfb0e4685e47a59aa3ca6d675f5fe2dd9513e78eb2d5e">_GRID</a>,              </div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="group__TRAJECTORY__MESSAGES.html#gga91a137242da7f276e5a2bfb0e4685e47a9452a667ff95c50409d99e6f8c073a67">   24</a></span>&#160;    <a class="code" href="group__TRAJECTORY__MESSAGES.html#gga91a137242da7f276e5a2bfb0e4685e47a9452a667ff95c50409d99e6f8c073a67">_ASTAR</a>,             </div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="group__TRAJECTORY__MESSAGES.html#gga91a137242da7f276e5a2bfb0e4685e47aee0264174d7c5892786c376776c2e5b0">   25</a></span>&#160;    <a class="code" href="group__TRAJECTORY__MESSAGES.html#gga91a137242da7f276e5a2bfb0e4685e47aee0264174d7c5892786c376776c2e5b0">_RRT</a>,               </div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="group__TRAJECTORY__MESSAGES.html#gga91a137242da7f276e5a2bfb0e4685e47af4b301e82d26ae488f8456bd9ee3f02f">   26</a></span>&#160;    <a class="code" href="group__TRAJECTORY__MESSAGES.html#gga91a137242da7f276e5a2bfb0e4685e47af4b301e82d26ae488f8456bd9ee3f02f">_SPLINES</a>            </div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;}<a class="code" href="group__TRAJECTORY__MESSAGES.html#ga91a137242da7f276e5a2bfb0e4685e47">algorithm_e</a>;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structtrajectory__request__t.html">   33</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span>{</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structtrajectory__request__t.html#a4b99a0ddf1440d2c7feac4d010985c1d">   34</a></span>&#160;   uint8_t TlmHeader[CFE_SB_TLM_HDR_SIZE]; </div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structtrajectory__request__t.html#abc5328997eac820cdc659bd3f10a2d04">   35</a></span>&#160;   <a class="code" href="group__TRAJECTORY__MESSAGES.html#ga91a137242da7f276e5a2bfb0e4685e47">algorithm_e</a> <a class="code" href="structtrajectory__request__t.html#abc5328997eac820cdc659bd3f10a2d04">algorithm</a>;                  </div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structtrajectory__request__t.html#a9eca36bf2e53e90943c04a5a752d3506">   36</a></span>&#160;   <span class="keywordtype">double</span> initialPosition[3];              </div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="structtrajectory__request__t.html#a76fb03b6a68a577ec3c57079c55a4915">   37</a></span>&#160;   <span class="keywordtype">double</span> initialVelocity[3];              </div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structtrajectory__request__t.html#abd2081ddd75eb021b856f59c5945ea94">   38</a></span>&#160;   <span class="keywordtype">double</span> finalPosition[3];                </div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;}<a class="code" href="structtrajectory__request__t.html">trajectory_request_t</a>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structflightplan__monitor__t.html">   45</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span>{</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structflightplan__monitor__t.html#abd9b75cf1e99011946a094751393c2e4">   46</a></span>&#160;    uint8_t TlmHeader[CFE_SB_TLM_HDR_SIZE]; </div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structflightplan__monitor__t.html#af9d17cff54818bb41081033ca2ebed29">   47</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structflightplan__monitor__t.html#af9d17cff54818bb41081033ca2ebed29">nextWP</a>;                             </div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structflightplan__monitor__t.html#a9bc9fa55c9fa43982ae9b8a8d8b1cf84">   48</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structflightplan__monitor__t.html#a9bc9fa55c9fa43982ae9b8a8d8b1cf84">allowedXtrackError</a>;              </div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structflightplan__monitor__t.html#aad327b88bd7fd511b1938daa17f108a3">   49</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structflightplan__monitor__t.html#aad327b88bd7fd511b1938daa17f108a3">dist2NextWP</a>; 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   <span class="keywordtype">double</span> <a class="code" href="structflightplan__monitor__t.html#a0d79041a4297593a71a550b785f103b4">resolutionSpeed</a>;                 </div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structflightplan__monitor__t.html#a7355f01012aad718da22da605f02a1d5">   54</a></span>&#160;    <a class="code" href="group__TRAJECTORY__MESSAGES.html#ga91a137242da7f276e5a2bfb0e4685e47">algorithm_e</a> <a class="code" href="structflightplan__monitor__t.html#a7355f01012aad718da22da605f02a1d5">searchType</a>;                 </div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}<a class="code" href="structflightplan__monitor__t.html">flightplan_monitor_t</a>;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html">   61</a></span>&#160; <span class="keyword">typedef</span> <span class="keyword">struct</span>{</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    uint8_t TlmHeader[CFE_SB_TLM_HDR_SIZE];</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#a9a272885852b6b671eed5fe7089db89d">   63</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structtrajectory__parameters__t.html#a9a272885852b6b671eed5fe7089db89d">obsbuffer</a>;                    </div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#a18188ad02170c53f5653068de3271985">   64</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structtrajectory__parameters__t.html#a18188ad02170c53f5653068de3271985">maxCeiling</a>;                   </div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="comment">// Astar parameters</span></div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#af87fcad6b35c4cc97c6ca21e47f9ab97">   67</a></span>&#160;    <span class="keywordtype">bool</span>   <a class="code" href="structtrajectory__parameters__t.html#af87fcad6b35c4cc97c6ca21e47f9ab97">astar_enable3D</a>;               </div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#a4799a85c2f8a572c8ccac3fb610fd342">   68</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structtrajectory__parameters__t.html#a4799a85c2f8a572c8ccac3fb610fd342">astar_gridSize</a>;               </div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#aaa391b3cd4fb80e5e4d3c3cca6d26f1c">   69</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structtrajectory__parameters__t.html#aaa391b3cd4fb80e5e4d3c3cca6d26f1c">astar_resSpeed</a>;               </div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#af221985f6bbd15e747ca180d5d133e09">   70</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structtrajectory__parameters__t.html#af221985f6bbd15e747ca180d5d133e09">astar_lookahead</a>;              </div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#a601e67029e34b0e67c789f3c2872c520">   71</a></span>&#160;    <span class="keywordtype">char</span> astar_daaConfigFile[50];        </div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="comment">// RRT parameters</span></div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#a4195f1b6556df8f05a8f8d7089be8e4a">   74</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structtrajectory__parameters__t.html#a4195f1b6556df8f05a8f8d7089be8e4a">rrt_resSpeed</a>;                 </div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#a438a0dc7e84b139c5fc3fb9801971f87">   75</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structtrajectory__parameters__t.html#a438a0dc7e84b139c5fc3fb9801971f87">rrt_numIterations</a>;               </div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#a92c749cda8c08636f0920a06716b0dcb">   76</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structtrajectory__parameters__t.html#a92c749cda8c08636f0920a06716b0dcb">rrt_dt</a>;                       </div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#ad5ab4e0d8cf4094eede3370ebf109180">   77</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structtrajectory__parameters__t.html#ad5ab4e0d8cf4094eede3370ebf109180">rrt_macroSteps</a>;                  </div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#a8ada3b86819d8274187f380461e9a1ad">   78</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structtrajectory__parameters__t.html#a8ada3b86819d8274187f380461e9a1ad">rrt_capR</a>;                     </div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#a2c371e0b2cf6fd4e7c3936f9879cf73e">   79</a></span>&#160;    <span class="keywordtype">char</span> rrt_daaConfigFile[50];          </div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="comment">// Flight plan monitoring parameters</span></div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#a69e90b7810335d4661dcdb524a07c82d">   82</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structtrajectory__parameters__t.html#a69e90b7810335d4661dcdb524a07c82d">xtrkDev</a>;                      </div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#a157506fe318fffee5f5692ab85f42f23">   83</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structtrajectory__parameters__t.html#a157506fe318fffee5f5692ab85f42f23">xtrkGain</a>;                     </div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#ad16eaacbaf04802bfac27ad4c2510e3e">   84</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structtrajectory__parameters__t.html#ad16eaacbaf04802bfac27ad4c2510e3e">resSpeed</a>;                     </div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="comment">// Preferred search algorithm to use</span></div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structtrajectory__parameters__t.html#af7013a20f40dd9da414f289804fc502d">   87</a></span>&#160;    uint8_t <a class="code" href="structtrajectory__parameters__t.html#af7013a20f40dd9da414f289804fc502d">searchAlgorithm</a>;            </div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; }<a class="code" href="structtrajectory__parameters__t.html">trajectory_parameters_t</a>;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="preprocessor">#endif //ICAROUS_CFS_TRAJECTORY_MSG_H</span></div><div class="ttc" id="structtrajectory__parameters__t_html_a157506fe318fffee5f5692ab85f42f23"><div class="ttname"><a href="structtrajectory__parameters__t.html#a157506fe318fffee5f5692ab85f42f23">trajectory_parameters_t::xtrkGain</a></div><div class="ttdeci">double xtrkGain</div><div class="ttdoc">Proportional gain used for cross track deviation maneuver computation. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:83</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_af221985f6bbd15e747ca180d5d133e09"><div class="ttname"><a href="structtrajectory__parameters__t.html#af221985f6bbd15e747ca180d5d133e09">trajectory_parameters_t::astar_lookahead</a></div><div class="ttdeci">double astar_lookahead</div><div class="ttdoc">Lookahead time in seconds (s) </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:70</div></div>
<div class="ttc" id="group__TRAJECTORY__MESSAGES_html_ga91a137242da7f276e5a2bfb0e4685e47"><div class="ttname"><a href="group__TRAJECTORY__MESSAGES.html#ga91a137242da7f276e5a2bfb0e4685e47">algorithm_e</a></div><div class="ttdeci">algorithm_e</div><div class="ttdoc">search algorithm type </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:22</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_a9a272885852b6b671eed5fe7089db89d"><div class="ttname"><a href="structtrajectory__parameters__t.html#a9a272885852b6b671eed5fe7089db89d">trajectory_parameters_t::obsbuffer</a></div><div class="ttdeci">double obsbuffer</div><div class="ttdoc">buffer [m] added to obstacle (obstacle sides are expanded by this much) </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:63</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_ad5ab4e0d8cf4094eede3370ebf109180"><div class="ttname"><a href="structtrajectory__parameters__t.html#ad5ab4e0d8cf4094eede3370ebf109180">trajectory_parameters_t::rrt_macroSteps</a></div><div class="ttdeci">int rrt_macroSteps</div><div class="ttdoc">Total number of Runga Kutta integration steps in one RRT iteration. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:77</div></div>
<div class="ttc" id="structflightplan__monitor__t_html_af9d17cff54818bb41081033ca2ebed29"><div class="ttname"><a href="structflightplan__monitor__t.html#af9d17cff54818bb41081033ca2ebed29">flightplan_monitor_t::nextWP</a></div><div class="ttdeci">int nextWP</div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:47</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_a69e90b7810335d4661dcdb524a07c82d"><div class="ttname"><a href="structtrajectory__parameters__t.html#a69e90b7810335d4661dcdb524a07c82d">trajectory_parameters_t::xtrkDev</a></div><div class="ttdeci">double xtrkDev</div><div class="ttdoc">Allowed cross track deviation. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:82</div></div>
<div class="ttc" id="group__TRAJECTORY__MESSAGES_html_gga91a137242da7f276e5a2bfb0e4685e47aee0264174d7c5892786c376776c2e5b0"><div class="ttname"><a href="group__TRAJECTORY__MESSAGES.html#gga91a137242da7f276e5a2bfb0e4685e47aee0264174d7c5892786c376776c2e5b0">_RRT</a></div><div class="ttdoc">Rapidly exploring random tree based algorithm (Requires a keep in geofence to bound the search space)...</div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:25</div></div>
<div class="ttc" id="group__TRAJECTORY__MESSAGES_html_gga91a137242da7f276e5a2bfb0e4685e47af4b301e82d26ae488f8456bd9ee3f02f"><div class="ttname"><a href="group__TRAJECTORY__MESSAGES.html#gga91a137242da7f276e5a2bfb0e4685e47af4b301e82d26ae488f8456bd9ee3f02f">_SPLINES</a></div><div class="ttdoc">Bsplines based planner (experimental planner) </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:26</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_af7013a20f40dd9da414f289804fc502d"><div class="ttname"><a href="structtrajectory__parameters__t.html#af7013a20f40dd9da414f289804fc502d">trajectory_parameters_t::searchAlgorithm</a></div><div class="ttdeci">uint8_t searchAlgorithm</div><div class="ttdoc">Algorithm used for computing a new path. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:87</div></div>
<div class="ttc" id="structflightplan__monitor__t_html"><div class="ttname"><a href="structflightplan__monitor__t.html">flightplan_monitor_t</a></div><div class="ttdoc">Information regarding the mission flight plan. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:45</div></div>
<div class="ttc" id="structflightplan__monitor__t_html_a9bc9fa55c9fa43982ae9b8a8d8b1cf84"><div class="ttname"><a href="structflightplan__monitor__t.html#a9bc9fa55c9fa43982ae9b8a8d8b1cf84">flightplan_monitor_t::allowedXtrackError</a></div><div class="ttdeci">double allowedXtrackError</div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:48</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_af87fcad6b35c4cc97c6ca21e47f9ab97"><div class="ttname"><a href="structtrajectory__parameters__t.html#af87fcad6b35c4cc97c6ca21e47f9ab97">trajectory_parameters_t::astar_enable3D</a></div><div class="ttdeci">bool astar_enable3D</div><div class="ttdoc">Enable 3D search for A star algorithm (not used in grid search) </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:67</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_a438a0dc7e84b139c5fc3fb9801971f87"><div class="ttname"><a href="structtrajectory__parameters__t.html#a438a0dc7e84b139c5fc3fb9801971f87">trajectory_parameters_t::rrt_numIterations</a></div><div class="ttdeci">int rrt_numIterations</div><div class="ttdoc">Total number of RRT iterations. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:75</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_aaa391b3cd4fb80e5e4d3c3cca6d26f1c"><div class="ttname"><a href="structtrajectory__parameters__t.html#aaa391b3cd4fb80e5e4d3c3cca6d26f1c">trajectory_parameters_t::astar_resSpeed</a></div><div class="ttdeci">double astar_resSpeed</div><div class="ttdoc">Ownship speed used for A star search (m/s) </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:69</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_a18188ad02170c53f5653068de3271985"><div class="ttname"><a href="structtrajectory__parameters__t.html#a18188ad02170c53f5653068de3271985">trajectory_parameters_t::maxCeiling</a></div><div class="ttdeci">double maxCeiling</div><div class="ttdoc">Max ceiling for flight [m]. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:64</div></div>
<div class="ttc" id="structflightplan__monitor__t_html_a9d875f353ccfd58cb8f41c6b792623a6"><div class="ttname"><a href="structflightplan__monitor__t.html#a9d875f353ccfd58cb8f41c6b792623a6">flightplan_monitor_t::interceptHeadingToPlan</a></div><div class="ttdeci">double interceptHeadingToPlan</div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:52</div></div>
<div class="ttc" id="structflightplan__monitor__t_html_a0d79041a4297593a71a550b785f103b4"><div class="ttname"><a href="structflightplan__monitor__t.html#a0d79041a4297593a71a550b785f103b4">flightplan_monitor_t::resolutionSpeed</a></div><div class="ttdeci">double resolutionSpeed</div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:53</div></div>
<div class="ttc" id="structflightplan__monitor__t_html_aad327b88bd7fd511b1938daa17f108a3"><div class="ttname"><a href="structflightplan__monitor__t.html#aad327b88bd7fd511b1938daa17f108a3">flightplan_monitor_t::dist2NextWP</a></div><div class="ttdeci">double dist2NextWP</div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:49</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_ad16eaacbaf04802bfac27ad4c2510e3e"><div class="ttname"><a href="structtrajectory__parameters__t.html#ad16eaacbaf04802bfac27ad4c2510e3e">trajectory_parameters_t::resSpeed</a></div><div class="ttdeci">double resSpeed</div><div class="ttdoc">Resolution speed when returning to flight plan. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:84</div></div>
<div class="ttc" id="group__TRAJECTORY__MESSAGES_html_gga91a137242da7f276e5a2bfb0e4685e47a9452a667ff95c50409d99e6f8c073a67"><div class="ttname"><a href="group__TRAJECTORY__MESSAGES.html#gga91a137242da7f276e5a2bfb0e4685e47a9452a667ff95c50409d99e6f8c073a67">_ASTAR</a></div><div class="ttdoc">A pseudo-motion primitive type Astar algorithm. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:24</div></div>
<div class="ttc" id="structflightplan__monitor__t_html_a94535c9491b2020b7f7345f5d9ab6ebb"><div class="ttname"><a href="structflightplan__monitor__t.html#a94535c9491b2020b7f7345f5d9ab6ebb">flightplan_monitor_t::crossTrackDeviation</a></div><div class="ttdeci">double crossTrackDeviation</div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:50</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_a4195f1b6556df8f05a8f8d7089be8e4a"><div class="ttname"><a href="structtrajectory__parameters__t.html#a4195f1b6556df8f05a8f8d7089be8e4a">trajectory_parameters_t::rrt_resSpeed</a></div><div class="ttdeci">double rrt_resSpeed</div><div class="ttdoc">Ownship speed used for RRT search. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:74</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_a92c749cda8c08636f0920a06716b0dcb"><div class="ttname"><a href="structtrajectory__parameters__t.html#a92c749cda8c08636f0920a06716b0dcb">trajectory_parameters_t::rrt_dt</a></div><div class="ttdeci">double rrt_dt</div><div class="ttdoc">Time step values in (s) used in one Range Kutta integration. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:76</div></div>
<div class="ttc" id="structtrajectory__request__t_html_abc5328997eac820cdc659bd3f10a2d04"><div class="ttname"><a href="structtrajectory__request__t.html#abc5328997eac820cdc659bd3f10a2d04">trajectory_request_t::algorithm</a></div><div class="ttdeci">algorithm_e algorithm</div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:35</div></div>
<div class="ttc" id="structtrajectory__request__t_html"><div class="ttname"><a href="structtrajectory__request__t.html">trajectory_request_t</a></div><div class="ttdoc">Request computation of a trajectory. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:33</div></div>
<div class="ttc" id="structflightplan__monitor__t_html_a7355f01012aad718da22da605f02a1d5"><div class="ttname"><a href="structflightplan__monitor__t.html#a7355f01012aad718da22da605f02a1d5">flightplan_monitor_t::searchType</a></div><div class="ttdeci">algorithm_e searchType</div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:54</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html"><div class="ttname"><a href="structtrajectory__parameters__t.html">trajectory_parameters_t</a></div><div class="ttdoc">trajectory parameters </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:61</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_a8ada3b86819d8274187f380461e9a1ad"><div class="ttname"><a href="structtrajectory__parameters__t.html#a8ada3b86819d8274187f380461e9a1ad">trajectory_parameters_t::rrt_capR</a></div><div class="ttdeci">double rrt_capR</div><div class="ttdoc">Capture circle radius (s) for final goal. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:78</div></div>
<div class="ttc" id="group__TRAJECTORY__MESSAGES_html_gga91a137242da7f276e5a2bfb0e4685e47a59aa3ca6d675f5fe2dd9513e78eb2d5e"><div class="ttname"><a href="group__TRAJECTORY__MESSAGES.html#gga91a137242da7f276e5a2bfb0e4685e47a59aa3ca6d675f5fe2dd9513e78eb2d5e">_GRID</a></div><div class="ttdoc">A simple grid based Astar algorithm (Requires a keep in geofence to bound the search space) ...</div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:23</div></div>
<div class="ttc" id="structtrajectory__parameters__t_html_a4799a85c2f8a572c8ccac3fb610fd342"><div class="ttname"><a href="structtrajectory__parameters__t.html#a4799a85c2f8a572c8ccac3fb610fd342">trajectory_parameters_t::astar_gridSize</a></div><div class="ttdeci">double astar_gridSize</div><div class="ttdoc">A star grid size for grid search (m) </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:68</div></div>
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